Method and system for controlling machines

ABSTRACT

A method for controlling a machine is provided. The method senses an orientation of a seat of an operator. The method selects a desired mode function with respect to at least one work tool, wherein the at least one work tool is equipped with the machine. Further, the orientation of the seat and the desired mode function is communicated to a processing module. Furthermore, a number of input modules are configured corresponding to predefined patterns to control functions of the at least one work tool and the machine. The predefined patterns define functions of the at least one work tool and the machine corresponding to the orientation of the seat, and the desired mode function.

TECHNICAL FIELD

The present disclosure relates to operator controls for controllingvarious operations of a machine, and more specifically, to an adaptableoperator controller for controlling front and rear work tools ofmachines.

BACKGROUND

A power machine is generally equipped with both front and rearimplements and/or attachments and therefore requires many operatorcontrol patterns. To operate the front and rear implements, the powermachine is equipped with a two-faced seat facing front and rear of themachine or a rotatable seat for an operator. Hence, a number of controlsare provided to control both the front and rear implement functionsalong with other machine functions, such as front or back stabilizersetc. Also, the operator needs to either shift between the two faced seatfacing the front and the rear of the machine or rotate while seated onthe rotatable seat to operate the front and rear implements which may bedifficult and physically uneasy for the operator. Additionally, thisleads to non-smooth and uncoordinated control of the front and rearimplements.

For example, a back-hoe loader is equipped to either a front linkage(i.e. engine end) or a rear linkage (i.e. non engine end) depending onthe operator's preference or work requirements. The versatility of thepower machine makes it cumbersome for the operator to intuitivelyoperate each machine controls configuration. Further, the machine needsto operate many power controls to control the front and the rearattachments.

U.S. Pat. No. 7,918,303, hereinafter referred to as ‘303’ reference,discloses a mobile vehicle. The mobile vehicle includes a moveableoperator seat, a left-side stabilizer, a right-side stabilizer, and acontrol system. The moveable operator seat is movable between aforward-use configuration and a rearward-use configuration. The controlsystem is configured to control movement of the left-side stabilizer andthe right-side stabilizer based on whether the operator seat is in theforward-use configuration or the rearward-use configuration. However,the '303 reference fails to disclose a controlling method to configurefunctions of controllers or input devices according to both theorientation of the operator seat and implement attachments. Therefore,there is a need of an adaptable controlling method that automaticallyadapts to the operator's seat orientation and a work tool/implementattachment.

SUMMARY OF THE DISCLOSURE

In an aspect of the present disclosure, a method for controlling amachine is provided. The method senses an orientation of a seat of anoperator. The method selects a desired mode function with respect to atleast one work tool, wherein the at least one work tool is equipped withthe machine. Further, the orientation of the seat and the desired modefunction is communicated to a processing module. Furthermore, inputmodules are configured corresponding to predefined patterns to controlfunctions of the at least one work tool and the machine. The predefinedpatterns define functions of the at least one work tool and the machinecorresponding to the orientation of the seat, and the desired modefunction.

Other features and aspects of this disclosure will be apparent from thefollowing description and the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view of a machine utilizing a proposed systemand method, in accordance with the concepts of the present disclosure;

FIG. 2 is a block diagram of a system for controlling functions of themachine, in accordance with the concepts of the present disclosure;

FIG. 3 depicts a top view of a seat in a first configuration and asecond configuration, in accordance with the concepts of the presentdisclosure;

FIG. 4 shows a control module to select a desired mode function, inaccordance with the concepts of the present disclosure; and

FIG. 5 is a flowchart of a method for controlling functions of themachine, in accordance with the concepts of the present disclosure.

DETAILED DESCRIPTION

Referring to FIG. 1, a machine 10 includes a cabin 12, input modules 14,16 (for example, a right hand joystick and a left hand joystick), afirst work tool 18, a second work tool 20, a seat 22, an engine 24, andstabilizers 26. The terms input module 14, the input module 16 areinterchangeably used with a right hand (RH) joystick 14 and a left hand(LH) joystick 16 respectively without departing from the meaning andscope of the disclosure. Examples of the machine 10 include, but are notlimited to, a backhoe loader, etc. For the purpose of simplicity, thevarious components of the machine 10 are not labeled in FIG. 1. Thefirst work tool 18 and the second work tool 20 are controlled via theinput modules 14, 16 to perform various operations of the machine 10.The first work tool 18 and the second work tools 20 areelectro-hydraulically controlled via the input modules 14, 16. The firstwork tool 18 is equipped in a front end of the machine 10 facing theengine 24. The second work tool 20 is equipped in a rear end of themachine 10 facing in the opposite direction to the engine 24. It will beapparent to one skilled in the art that the first work tool 18 and thesecond work tool 20 may be coupled at any other location on the machine10 without departing from the meaning and scope of the disclosure.

The input modules 14, 16 control various functions of the machine 10.The input modules 14, 16 are mounted on the seat 22, as shown in theFIG. 1. It will be apparent to the one skilled in the art that the inputmodules 14, 16 are mounted on a console (not shown) within a vicinity ofthe operator or are mounted at any other location apart from the seat 22without departing from the meaning and scope of the present disclosure.The seat 22 is rotatable and therefore the input modules 14, 16 alsorotate with the rotation of the seat 22. Examples of the input modules14, 16 include, but are not limited to joysticks, keypads, touchscreens, etc.

The machine 10 also includes the stabilizers 26 coupled to a frame (notshown). The machine 10 includes the stabilizers 26 coupled to a left anda right side of the frame. Only one of the stabilizers 26 is shown inthe FIG. 1. The stabilizers 26 are movable between a lowered positionand a raised position for supporting the frame of the machine 10.

The disclosure described herein may be used with other machines whichhave the first work tool 18 to be controlled and the second work tool 20to be controlled without departing from the meaning and scope of thedisclosure.

Referring to FIGS. 1 and 2, a system 28 controls the functions of thefirst work tool 18 and the second work tool 20. The system 28 includes aprocessing module 30, a position sensing device 34, a control module 36,a communication module 38, the input modules 14, 16, the first work tool18 and the second work tool 20, and the seat 22. The machine 10 includesthe input modules 14, 16, for example, a first input module 40, a secondinput module 42, a third input module 44 for controlling multiplefunctions of the machine 10. The first input module 40 is configured tocontrol functions of the machine 10, such as drive, steer, stabilizerfunctions etc. The second input module 42 is configured to control anumber of functions of the first work tool 18 and the second work tools20. The third input module 44 is configured to control either thestabilizer 26 or one of the first work tool 18 or the second work tool20.

Although, the system 28 disclosed herein configures the first inputmodule 40 with the functions of the machine 10, the second input module42 with the first work tool 18 and the second work tool 20, and thethird input module 44 with the stabilizers 26 or the first work tool 18and the second work tool 20. The system 28 configures or re-configuresthe first input module 40, the second input module 42, the third inputmodule 44 with other functions of the machine 10 apart from the onesdisclosed herein without departing from the meaning and scope of thepresent disclosure.

The processing module 30 receives signals from the communication module38 that further communicates to receive signals from the positionsensing device 34, the control module 36, and the first work tool 18 andthe second work tool 20. After receiving the input signals from thecommunication module 38, the processing module 30 sends control signalsto the input modules 14, 16 for controlling the functions of the machine10 and the first work tool 18 and the second work tool 20.

The system 28 controls the functions of the machine 10 depending on theorientation of the seat 22 and the type of the first work tool 18 andthe second work tool 20 attached to either the front end or the rear endof the machine 10. The system 28 adapts to the orientation of the seat22 and automatically reconfigures the input modules 14 based on theinput signals about a specific work tool.

The seat 22 is provided in a rotatable manner between a firstconfiguration 46 facing the front end of the machine 10 and a secondconfiguration 48 facing rear end of the machine 10 (as shown in FIG. 3).The input modules 14, 16 are mounted at different locations within thecabin 12 and are easily accessible by the operator. In an embodiment,the first input module 40 and the second input module 42 are mounted onthe seat 22, and hence the first input module 40 and the second inputmodule 42 also rotate with the rotation of the seat 22, while the thirdinput module 44 is mounted on a console near the seat 22. In anotherembodiment, the first input module 40, the second input module 42 andthe third input module 44 are mounted on the seat 22. The positionsensing device 34 senses the orientation of the seat 22, whether theseat 22 is in the first configuration 46 or the second configuration 48.Upon sensing the orientation, the position sensing device 34 sends asignal regarding the orientation of the seat 22 to the processing module30.

Further, the communication module 38 works in a controller area network(CAN) to send signals indicating the type of the first work tool 18 andthe second work tool 20 to the processing module 30. Furthermore, theoperator also selects a desired mode function (as described in FIG. 4)depending on which work tool to be utilized via the control module 36.The mode function defines different function modes for a particular worktool. It will be apparent to the one skilled in the art that the controlmodule 36 is a manual or an automatic device that selects a modefunction or automatically detects the work tool to select a modefunction without departing from the meaning and scope of the disclosure.Further, the control module 36 may be a manual rotatable knob, a switch,a touchpad, an electronic display, any other device that allowsselection of the mode function without departing from the meaning andscope of the disclosure. The processing module 30 receives a signalindicating the mode function from the control module 36 via thecommunication module 38.

The processing module 30 stores a number of predefined patterns 32 thatdefine functions of the first work tool 18 and the second work tool 20of the machine 10. The predefined patterns 32 are defined depending uponthe work tool to be utilized and the first configuration 46 or thesecond configuration 48 of the seat 22. Upon receiving inputs from theposition sensing device 34, the first work tool 18 and the second worktool 20 and the control module 36, the processing module 30automatically adapts to one of the predefined patterns 32 thatcorresponds to the required work tool, the orientation of the seat 22and the mode function. Thereafter, the processing module 30 reconfiguresthe input modules 14, 16 according to the predefined patterns 32adapted. Hence, the input modules 14, 16 adapt to the predefined pattern32. Therefore, the input modules 14, 16 operate accordingly to controleither the first work tool 18 or the second work tool 20 or both alongwith the other functions of the machine 10, such as steering, driving orstabilizing.

Referring to FIGS. 1 and 2, the machine 10 includes the input modules14, 16, for example, the right hand (RH) joystick 14 and the left hand(LH) joystick 16 on the seat 22. The right hand joystick 14 and the lefthand joystick 16 also rotate with the seat 22. The LH joystick 16 and RHjoystick 14 is referred to as the first input module 40 and the secondinput module 42 respectively. The operator selects a mode, i.e. abackhoe loader mode from the control module 36 (shown in FIG. 4) tooperate the first work tool 18 i.e. the loader and the second work tool20, i.e. a backhoe, while being in the first configuration 46 of theseat 22 facing the front of the machine 10. The processing module 30adapts to the predefined patterns 32 that define the configuration ofthe first input module 40 and the second input module 42 in the firstconfiguration 46 of the seat 22 for the loader mode. Therefore, thefirst input module 40 controls the drive and steer of the machine 10.While, the second input module 42 controls the lift or rack or auxiliaryfunctions of the first work tool 18, i.e. a loader. Also, while being inthe first configuration 46, the backhoe is in the rear of the operator,therefore the third input module 44 controls the functions of thebackhoe as defined in the predefined patterns 32.

Now, when the seat 22 is rotated in the second configuration 48, theprocessing module 30 adapts to the predefined patterns 32 that definesthe configuration of the first input module 40, the second input module42, and the third input module 44 in the second configuration 48 for thebackhoe loader mode. Hence, the processing module 30 reconfigures thefirst input module 40 and the second input module 42. As a result, thefirst input module 40 drives the machine 10 in reverse and steers themachine 10 in reverse, while the second input module 42 performs liftsor racks or aux functions of the second work tool 20, i.e. the backhoein the rear. The third input module 44 controls the first work tool 18,i.e. loader which is in the rear of the operator now. As a result, theoperator is able to maneuver multiple functions using the right hand(RH) joystick 14 and the left hand (LH) joystick 16.

Referring to FIGS. 2, and 3, the seat 22 is rotated in the firstconfiguration 46. The position sensing device 34 senses the orientationof the seat 22 in the first configuration 46. The processing module 30adapts to the predefined patterns 32 for the first configuration 46 in adesired mode function selected via the control module 36 to reconfigurethe first input module 40, the second input module 42 and the thirdinput module 44 according to the predefined pattern 32 adapted. Inanother configuration, the seat 22 is rotated in the secondconfiguration 48. The position sensing device 34 senses the orientationof the seat 22 in the second configuration 48. The processing module 30adapts to the predefined pattern 32 for the second configuration 48 in amode function selected via the control module 36 to reconfigure thefirst input module 40, the second input module 42 and the third inputmodule 44 according to the predefined pattern 32 adapted.

Referring to FIGS. 1, 2 and 4, the control module 36 includes fourselectable mode functions. The mode functions selectable via the controlmodule 36 are bucket mode 50 denoted by ‘A’, excavator mode 52 denotedby ‘B’, backhoe loader mode 54 denoted by ‘C’ and dozer mode 56 denotedby ‘D’. It will be apparent to the one skilled in the art that thecontrol module 36 includes any number of mode functions with otherfunctionalities described herein depending on the types of work toolsattached to the machine 10, without departing from the meaning and scopeof the present disclosure. Also, the control module 36 is in the form ofa manually operated module, such as knobs, joysticks, switches, leversetc. or an electronically operated display module, or a touch pad etc.without departing from the meaning and scope of the present disclosure.

INDUSTRIAL APPLICABILITY

Referring to FIG. 5, a method 58 is described in conjunction with FIGS.1-4.

At step 60, the orientation of the seat 22 is detected by the positionsensing device 34.

At step 62, a desired mode function is selected via the control module36 with respect to the work tool to be utilized, i.e. either the firstwork tool 18 or the second work tool 20.

At step 64, the orientation of the seat 22 and the desired mode functionis communicated to the processing module 30.

At step 66, the processing module 30 configures the input modules 14, 16according to the predefined patterns 32 adapted for controlling thefunctions of the machine 10. Examples of functions include, but are notlimited to, drive, steer, stabilizer controls, along with the functionsof the first work tool 18 and the second work tool 20 attached to themachine 10. The processing module 30 automatically adapts an appropriatepredefined pattern 32 depending on the input signals received from theposition sensing device 34 and the control module 36. Thereafter, theprocessing module 30 reconfigures the input modules 14 according to thepredefined pattern 32 adapted.

The present disclosure provides a system and method to automaticallyconfigure the controlling functions of the input modules 14, 16 of themachine 10. The system 28 employs the processing module 30 that definesthe predefined patterns 32 to re-configure the controls of the inputmodules 14, 16. The predefined patterns 32 consider the orientation ofthe seat 22 and the specific work tools that help in reducing the numberof controls in the machine 10 and is more intuitive and user friendly tothe operator. The operator is able to control the first work tool 18 andthe second work tool 20 along with other functions of the machine 10,such as steer, stabilizer etc. in any configuration of the seat 22.

The operator of the machine 10 is able to efficiently control thefunctions of the first work tool 18 and the second work tool 20 alongwith other functions of the machine 10. The work accuracy of theoperator for using the front work tool 18 and the rear work tool 20increase and also the operator takes lesser time adapting to a differentwork tool controls.

While aspects of the present disclosure have been particularly shown anddescribed with reference to the embodiments above, it will be understoodby those skilled in the art that various additional embodiments may becontemplated by the modification of the disclosed machines, systems andmethods without departing from the spirit and scope of what isdisclosed. Such embodiments should be understood to fall within thescope of the present disclosure as determined based upon the claims andany equivalents thereof.

What is claimed is:
 1. A method for controlling a machine, the methodcomprising: sensing an orientation of a seat of an operator; selecting adesired mode function with respect to at least one work tool, the atleast one work tool is equipped with the machine; communicating theorientation of the seat and the desired mode function to a processingmodule; and configuring a plurality of input modules corresponding topredefined patterns to control the functions of the at least one worktool and the machine; wherein the predefined patterns define functionsof the at least one work tool and the machine corresponding to theorientation of the seat, and the desired mode function.